CN109108613B - Shaft hole part batch assembly device - Google Patents
Shaft hole part batch assembly device Download PDFInfo
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- CN109108613B CN109108613B CN201811336052.0A CN201811336052A CN109108613B CN 109108613 B CN109108613 B CN 109108613B CN 201811336052 A CN201811336052 A CN 201811336052A CN 109108613 B CN109108613 B CN 109108613B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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- Manipulator (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses a shaft hole part batch assembly device. The device comprises: the device comprises an upper computer, a vibration isolation platform, a feeding mechanism horizontally arranged on the vibration isolation platform, a clamping hand placing platform, a shaft part operating mechanism, a six-degree-of-freedom mechanical arm and a two-path microscopic vision observation device. The feeding mechanism comprises a rotary platform and a part tray and is used for continuously and automatically feeding the shaft hole parts; the shaft part operating mechanism comprises a part posture adjusting mechanism and a part positioning table and is used for adjusting the initial posture of the shaft part in the assembly process; the six-degree-of-freedom mechanical arm comprises six serial rotating shafts, a micro force sensor, a quick-change base and a visual observation device, wherein the micro force sensor, the quick-change base and the visual observation device are arranged at the tail end of the six-degree-of-freedom mechanical arm and are used for adjusting the pose of the hole part in the large-scale transportation and assembly process of the shaft hole part; the two paths of microscopic vision observation devices are horizontally and orthogonally arranged and are used for precisely detecting the relative pose of the shaft hole part. The device can realize full-automatic and batch flexible precise assembly of shaft hole parts.
Description
Technical Field
The invention belongs to the technical field of micro assembly, and particularly relates to a shaft hole part batch assembly device.
Background
In the field of precision micro-assembly, hole and shaft assembly is the most typical assembly mode and is widely used. Because the assembly process of the hole and the shaft has the problems of shaft hole matching error, nonlinear contact, weak rigidity of parts and the like, the precise assembly of the hole and the shaft faces a great challenge. Microscopic vision and micro force feedback based assembly schemes are currently in common use. Micro-assembly robot systems (Li Haipeng, xing Dengpeng, zhang Zhengtao and the like) of holes and shafts developed by automated research institute of China academy of sciences, macro-micro combined multi-manipulator micro-assembly robot systems, robots, 2015,37 (1): 35-42), adopt multi-manipulator parallel operation based on microscopic visual servoing, design special-shaped part holders for holes and shaft parts of different structures, and realize interference assembly of millimeter-level holes and shaft parts. However, the manipulator of the micro-assembly robot system has smaller stroke and narrow assembly space, can not realize the automatic taking, placing and conveying operation of parts in a large range, and can only be specially used for a special machine.
Microminiature shaft hole part assembly system (Wei Weijun, mechanical engineer, 2015, 6:138-141) developed by oxford instrument (Shanghai) limited company, based on the shaft hole precise assembly research of the machine vision and the passive compliant mechanism, adopts the machine vision to detect the position in the non-contact stage of the hole and the shaft part assembly; in the contact stage of the assembly of the hole and the shaft part, a passive compliant mechanism is designed to compensate the pose deviation of the part, so that the assembly of the shaft hole part with the shaft hole gap larger than 9 mu m and the initial shaft hole position deviation smaller than 100 mu m is realized. But the device can not meet the requirements of detection precision and pose adjustment of interference or transitional assembly of the hole and the shaft part, and has lower assembly efficiency.
Currently, development of a shaft hole part batch assembly device is needed to realize full-automatic and batch flexible precise assembly of shaft hole parts.
Disclosure of Invention
The invention aims to solve the technical problem of providing a shaft hole part batch assembly device.
The invention relates to a shaft hole part batch assembly device which is characterized by comprising an upper computer, a vibration isolation platform, a feeding mechanism, a clamping hand placing platform, a shaft part operating mechanism, a six-degree-of-freedom mechanical arm and a two-path microscopic vision observation device, wherein the feeding mechanism, the clamping hand placing platform, the shaft part operating mechanism and the two-path microscopic vision observation device are arranged on the vibration isolation platform;
the feeding mechanism comprises a rotary platform and a part tray arranged on the rotary platform, the part tray rotates with the rotary platform at the same angular speed, and hole parts and shaft parts before assembly operation are fixed on the part tray;
the clamping hand placing platform comprises a clamping hand support, a clamping hand I and a clamping hand II which are fixed on the clamping hand support, wherein the clamping hand I clamps the shaft part, and the clamping hand II clamps the hole part;
the shaft part operating mechanism comprises a part posture adjusting mechanism and a part positioning table arranged on the part posture adjusting mechanism, and the shaft part is fixed on the part positioning table during assembly operation; the part posture adjusting mechanism adjusts the posture of the shaft part around the X axis, the Y axis and the Z axis;
the tail end of the six-degree-of-freedom mechanical arm is provided with a micro-force sensor, a quick-change hand base and a visual observation device, the upper end of the quick-change hand base is fixedly connected with the micro-force sensor, and the lower end of the quick-change hand base is respectively matched and sucked with the clamping hand I and the clamping hand II to realize the replacement of the clamping hand I and the clamping hand II; the micro force sensor detects the contact force between the hole part and the shaft part in the assembly process in real time, the force sense information is fed back to the upper computer, and the upper computer sends a signal to the six-degree-of-freedom mechanical arm to adjust the relative pose of the hole part and the shaft part, so that the assembly of the hole part and the shaft part is realized; the visual observation device is used for guiding the tail end of the six-degree-of-freedom mechanical arm to move, and respectively realizing the alignment of the quick-change hand base and the clamping hand I or the clamping hand II during hand change, the alignment of the clamping hand I and the shaft part during feeding, the alignment of the clamping hand II and the hole part, and the one-time alignment of the hole part and the shaft part during assembly;
the two-path microscopic vision observation device comprises an X-axis direction microscopic vision observation device I and a Y-axis direction microscopic vision observation device II; the microscopic vision observation device I is horizontally arranged on the vision adjustment mechanism I, and the position of the microscopic vision observation device I is adjusted by the vision adjustment mechanism I along the X-axis, Y-axis and Z-axis directions; the microscopic vision observation device II is horizontally arranged on the vision adjustment mechanism II, and the position of the microscopic vision observation device II is adjusted by the vision adjustment mechanism II along the X-axis, Y-axis and Z-axis directions; the included angle of the light path of the microscopic vision observation device I and the light path of the microscopic vision observation device II are 90 degrees, and the microscopic vision observation device I and the light path of the microscopic vision observation device II are used for observing the relative positions of the hole part and the shaft part in the directions of the X axis, the Y axis and the Z axis and the relative postures around the X axis and the Y axis in the assembly process, feeding the observed image information back to the upper computer, and sending a signal to the six-degree-of-freedom mechanical arm by the upper computer to adjust the relative postures of the hole part and the shaft part so as to realize the secondary alignment of the hole part and the shaft part;
the microscopic vision observation device I comprises an annular light source I and a collimation light source I; the microscopic vision observation device II comprises an annular light source II and a collimation light source II and is used for illumination in the detection process.
The part tray is provided with n groups of positioning pieces which are uniformly distributed along the circumference, each group of positioning pieces comprises 1 shaft part positioning column, 1 hole part positioning column and 1 shaft hole assembly positioning hole which are radially distributed, and n is more than or equal to 8.
The shaft part positioning table is used for simultaneously placing m shaft parts, wherein m is less than or equal to n.
The hole part and the shaft part are in transition fit, the clearance range of the clearance fit of the hole part and the shaft part is 10-20 mu m, and the interference range of the interference fit of the hole part and the shaft part is 2-4 mu m.
The working flow of the shaft hole part batch assembly device provided by the invention is as follows:
the method comprises the steps that n shaft parts and n hole parts are respectively fixed on a shaft part positioning column and a hole part positioning column of a part tray, and a clamping hand I and a clamping hand II are fixed on a clamping hand support of a clamping hand placing platform;
secondly, the six-degree-of-freedom mechanical arm is moved to a hand-changing position, and the quick-changing hand base is aligned with and clamped by the clamping hand I;
thirdly, the clamping hand I moves to the upper part of the part tray through the six-degree-of-freedom mechanical arm, and alignment and clamping of the clamping hand I and the shaft part are realized under the guidance of the visual observation device;
the six-degree-of-freedom mechanical arm transports the shaft part to the position above the part positioning table, and the shaft part is fixed on the part positioning table under the guidance of the visual observation device;
fifthly, repeating the steps and the step four until the fixation of m shaft parts is completed;
moving the six-degree-of-freedom mechanical arm to a hand changing position, separating the clamping hand I from the quick-change hand base, placing the clamping hand I on the clamping hand support, and aligning and clamping the quick-change hand base and the clamping hand II;
the clamping hand II moves to the upper part of the part tray through a six-degree-of-freedom mechanical arm, and then the alignment and clamping of the clamping hand II and the hole part are realized under the guidance of the visual observation device;
the six-degree-of-freedom mechanical arm conveys the hole part to the position above the part positioning table, and the approach and rough alignment of the hole part and the shaft part, namely one-time alignment, are realized under the guidance of the visual observation device;
the magnification of the microscopic visual observation device I and the magnification of the microscopic visual observation device II are adjusted, the positions of the microscopic visual observation device I and the microscopic visual observation device II in the X axis, the Y axis and the Z axis are respectively adjusted through the visual adjustment mechanism I and the visual adjustment mechanism II, hole parts and shaft parts are enabled to appear in an observation range, and acquired image information is fed back to an upper computer. The upper computer calculates the relative pose error of the hole part and the shaft part, sends a pose adjustment signal of the hole part to the six-degree-of-freedom mechanical arm, and the six-degree-of-freedom mechanical arm moves to realize the accurate alignment, namely the secondary alignment, of the hole part and the shaft part;
the six-degree-of-freedom mechanical arm moves downwards to assemble the hole part and the shaft part, the micro force sensor detects the contact force between the hole part and the shaft part in real time in the assembling process, and when the detection value of the micro force sensor is larger than a set threshold value, the upper computer sends an adjusting signal to the six-degree-of-freedom mechanical arm to finely adjust the posture of the hole part until the hole part and the shaft part are assembled;
the six-degree-of-freedom mechanical arm conveys the assembled shaft hole assembly to the upper part of the part tray, and the shaft hole assembly is fixed on a shaft hole assembly positioning hole of the part tray under the guidance of the visual observation device;
repeating the steps (1) - (1) until the assembly of the m pairs of hole parts and the shaft parts is completed.
The shaft hole part batch assembly device solves the problems of operation space, assembly efficiency, universality and the like of the shaft hole assembly device, can realize automatic feeding, large-scale transportation and real-time detection and adjustment of part space positions of the hole parts and the shaft parts in the assembly process, and completes batch flexible and precise assembly of the hole parts and the shaft parts.
Drawings
FIG. 1 is a schematic diagram of a shaft hole part batch assembly device according to the present invention;
FIG. 2 is a schematic view of the shaft element operating mechanism of the present invention;
FIG. 3 is a schematic view of a six degree of freedom mechanical arm according to the present invention;
FIG. 4 is a schematic diagram of a two-way microscopic vision observation device according to the present invention;
in the figure, 1, a vibration isolation platform 2, a rotating platform 3, a part tray 4, a clamping hand bracket 5, a clamping hand I6, a clamping hand II 7, a part posture adjustment mechanism 8, a six-degree-of-freedom mechanical arm 9, a visual observation device 10, a visual adjustment mechanism I11, a microscopic visual observation device I12, a visual adjustment mechanism II 13, a microscopic visual observation device II 14, a part positioning table 15, a quick-change hand base 16, a micro-force sensor 17, an annular light source I18, an annular light source II 19, an annular light source I20 and an annular light source II.
Detailed Description
The invention is described in detail below with reference to the drawings and examples.
As shown in FIG. 1, the shaft hole part batch assembly device comprises an upper computer, a vibration isolation platform 1, a feeding mechanism, a clamping hand placing platform, a shaft part operating mechanism, a six-degree-of-freedom mechanical arm 8 and a two-path microscopic vision observation device, wherein the feeding mechanism, the clamping hand placing platform and the shaft part operating mechanism are arranged on the vibration isolation platform 1;
the feeding mechanism comprises a rotary platform 2 and a part tray 3 arranged on the rotary platform 2, the part tray 3 rotates with the rotary platform 2 at the same angular speed, and hole parts and shaft parts before assembly operation are fixed on the part tray 3;
the clamping hand placing platform comprises a clamping hand support 4, a clamping hand I5 and a clamping hand II 6 which are fixed on the clamping hand support 4, wherein the clamping hand I5 clamps the shaft part, and the clamping hand II 6 clamps the hole part;
as shown in fig. 2, the shaft part operating mechanism comprises a part posture adjusting mechanism 7 and a part positioning table 14 arranged on the part posture adjusting mechanism 7, and the shaft part is fixed on the part positioning table 14 during assembly operation; the component posture adjusting mechanism 7 adjusts the posture of the shaft component around the X axis, the Y axis and the Z axis;
as shown in fig. 3, the end of the six-degree-of-freedom mechanical arm 8 is provided with a micro-force sensor 16, a quick-change hand base 15 and a visual observation device 9, the upper end of the quick-change hand base 15 is fixedly connected with the micro-force sensor 16, and the lower end of the quick-change hand base 15 is respectively matched and sucked with a clamping hand I5 and a clamping hand II 6, so that the clamping hand I5 and the clamping hand II 6 are replaced; the micro force sensor 16 detects the contact force between the hole part and the shaft part in the assembly process in real time, the force sense information is fed back to the upper computer, and the upper computer sends a signal to the six-degree-of-freedom mechanical arm 8 to adjust the relative pose of the hole part and the shaft part, so that the assembly of the hole part and the shaft part is realized; the visual observation device 9 is used for guiding the tail end of the six-degree-of-freedom mechanical arm 8 to move, and respectively realizing the alignment of the quick-change base 15 and the clamping hand I5 or the clamping hand II 6 during the hand change, the alignment of the clamping hand I5 and the shaft part during the feeding, the alignment of the clamping hand II 6 and the hole part, and the primary alignment of the hole part and the shaft part during the assembly process;
as shown in FIG. 4, the two-path microscopic vision observation device comprises an X-axis direction microscopic vision observation device I11 and a Y-axis direction microscopic vision observation device II 13; the microscopic vision observation device I11 is horizontally arranged on the vision adjustment mechanism I10, and the position of the microscopic vision observation device I11 is adjusted by the vision adjustment mechanism I10 along the X-axis, Y-axis and Z-axis directions; the microscopic vision observation device II 13 is horizontally arranged on the vision adjustment mechanism II 12, and the position of the microscopic vision observation device II 13 is adjusted by the vision adjustment mechanism II 12 along the X-axis, Y-axis and Z-axis directions; the included angle of the light path of the microscopic vision observation device I11 and the microscopic vision observation device II 13 is 90 degrees, and the microscopic vision observation device I is used for observing the relative positions of the hole part and the shaft part in the directions of the X axis, the Y axis and the Z axis in the assembly process and feeding back the observed image information to the upper computer, and the upper computer sends a signal to the six-degree-of-freedom mechanical arm 8 to adjust the relative positions of the hole part and the shaft part, so that the secondary alignment of the hole part and the shaft part is realized;
the microscopic vision observation device I11 comprises an annular light source I17 and a collimation light source I19; the microscopic vision observation device II 13 comprises an annular light source II 20 and a collimated light source II 18, and is used for illumination in the detection process.
The part tray 3 is provided with n groups of positioning pieces which are uniformly distributed along the circumference, each group of positioning pieces comprises 1 shaft part positioning column, 1 hole part positioning column and 1 shaft hole assembly positioning hole which are distributed along the radial direction, and n is more than or equal to 8.
The shaft part positioning table 14 is used for simultaneously placing m shaft parts, wherein m is less than or equal to n.
The hole part and the shaft part are in transition fit, the clearance range of the clearance fit of the hole part and the shaft part is 10-20 mu m, and the interference range of the interference fit of the hole part and the shaft part is 2-4 mu m.
Example 1
In this example, m=5, n=8, the hole part is a thin-walled cylindrical part, the length is about 3000 μm, the inner diameter of the hole is about 2700 μm, and the wall thickness is about 250 μm; the shaft part is a stepped thin-walled cylinder part, the outer diameter of the thin section is about 2685 μm, the length is about 2100 μm, the wall thickness is about 30 μm, the outer diameter of the thick section is about 2703 μm, the length is about 200 μm, and the wall thickness is about 30 μm. The hole part and the shaft part are in transition fit, the clearance of the clearance fit section is about 15 mu m, and the interference of the interference fit section is about 3 mu m.
The detailed working procedure of this embodiment is as follows:
the initialization of a system includes: controlling the part posture adjusting mechanism 7, the visual adjusting mechanism I10, the visual adjusting mechanism II 12 and the six-degree-of-freedom mechanical arm 8 to move to an initial setting position; adjusting the microscopic vision observation device I11 and the microscopic vision observation device II 13 to minimum magnification; adjusting the annular light source I17, the collimated light source I19, the annular light source II 20 and the collimated light source II 18 to an initial set exposure rate;
secondly, 8 shaft parts and 8 hole parts are respectively fixed on a shaft part positioning column and a hole part positioning column of the part tray 3, and a clamping hand I5 and a clamping hand II 6 are fixed on a clamping hand bracket 4;
thirdly, the six-degree-of-freedom mechanical arm 8 is controlled to move to a hand-changing position, and the quick-changing hand base 15 is aligned with the clamping hand I5 and clamped;
the clamping hand I5 moves to the upper part of the part tray 3 through the six-degree-of-freedom mechanical arm 8, and alignment and clamping of the clamping hand I5 and the shaft part are realized under the guidance of the visual observation device 9;
fifthly, the six-degree-of-freedom mechanical arm 8 transports the shaft part to the position above the part positioning table 14, and the shaft part is fixed on the part positioning table 14 under the guidance of the visual observation device 9;
repeating the steps of step (c) and step (d) until the fixation of 5 shaft parts is completed;
and controlling the six-degree-of-freedom mechanical arm 8 to move to the hand-change position, separating the clamping hand I5 from the quick-change hand base 15, placing the clamping hand I5 on the clamping hand support 4, and aligning and clamping the quick-change hand base 15 with the clamping hand II 6;
the clamping hand II 6 moves to the upper part of the part tray 3 through the six-degree-of-freedom mechanical arm 8, and alignment and clamping of the clamping hand II 6 and the hole part are realized under the guidance of the visual observation device 9;
the six-degree-of-freedom mechanical arm 8 conveys the hole part to the position above the part positioning table 14, and the approach and rough alignment of the hole part and the shaft part, namely one-time alignment, are realized under the guidance of the visual observation device 9;
the magnification of the microscopic vision observation device I11 and the microscopic vision observation device II 13 is increased, and the positions of the microscopic vision observation device I11 and the microscopic vision observation device II 13 in the X axis, the Y axis and the Z axis are respectively adjusted through the vision adjustment mechanism I10 and the vision adjustment mechanism II 12, so that hole parts and shaft parts clearly appear in the visual field range;
the upper computer receives image information of the microscopic vision observation device I11 and the microscopic vision observation device II 13, calculates relative pose errors of the hole part and the shaft part, and sends a pose adjusting signal of the hole part to the six-degree-of-freedom mechanical arm 8;
repeating the step until the relative pose error of the hole part and the shaft part is smaller than a set threshold value, and finishing the accurate alignment of the hole part and the shaft part, namely secondary alignment;
the six-degree-of-freedom mechanical arm 8 is controlled to move downwards to assemble the hole part and the shaft part, the micro force sensor 16 detects the contact force of the hole part and the shaft part in real time in the assembling process, and when the detection value of the micro force sensor 16 is larger than a set threshold value, the upper computer sends an adjusting signal to the six-degree-of-freedom mechanical arm 8 to finely adjust the posture of the hole part;
repeating the steps until the assembly of the bore component and the shaft component is completed;
the six-degree-of-freedom mechanical arm 8 conveys the assembled shaft hole assembly to the upper part of the part tray 3, and the shaft hole assembly is fixed in a shaft hole assembly positioning hole of the part tray 3 under the guidance of the visual observation device 9;
repeating the steps until the assembly of 5 pairs of hole parts and shaft parts is completed;
⒄ the six degrees of freedom mechanical arm 8 is controlled to move to the hand-changing position, the clamping hand II 6 is separated from the quick-changing hand base 15, and the clamping hand II 6 is placed on the clamping hand support 4, and the assembly is completed.
Example 2
The embodiment of example 2 is substantially the same as example 1, with the main differences that m=6, n=12, the bore part is in a transition fit with the shaft part, the clearance fit section is about 10 μm, and the interference fit section has an interference of about 2 μm. At this time, the relative pose error adjustment threshold of the hole part and the shaft part set by the upper computer is smaller than the threshold set in embodiment 1.
Example 3
The embodiment of example 3 is substantially the same as example 1, with the main differences that m=8, n=8, the bore part is in a transition fit with the shaft part, the clearance fit section is about 20 μm, and the interference fit section has an interference of about 4 μm. At this time, the relative pose error adjustment threshold of the hole part and the shaft part set by the upper computer is larger than the threshold set in embodiment 1.
While the foregoing is directed to embodiments of the present invention, other and further details of the invention may be had by the present invention, it should be understood that the foregoing description is merely illustrative of the present invention and that no limitations are intended to the scope of the invention, except insofar as modifications, equivalents, improvements or modifications are within the spirit and principles of the invention.
Claims (2)
1. The utility model provides a shaft hole part batched assembly quality which characterized in that: the assembly device comprises an upper computer, a vibration isolation platform (1), a feeding mechanism arranged on the vibration isolation platform (1), a clamping hand placing platform, a shaft part operating mechanism, a six-degree-of-freedom mechanical arm (8) and two paths of microscopic vision observation devices;
the feeding mechanism comprises a rotary platform (2) and a part tray (3) arranged on the rotary platform (2), wherein the part tray (3) rotates with the rotary platform (2) at the same angular speed, and a hole part and a shaft part before assembly operation are fixed on the part tray (3);
the clamping hand placing platform comprises a clamping hand support (4), a clamping hand I (5) and a clamping hand II (6), wherein the clamping hand I (5) clamps the shaft part, and the clamping hand II (6) clamps the hole part;
the shaft part operating mechanism comprises a part posture adjusting mechanism (7) and a part positioning table (14) arranged on the part posture adjusting mechanism (7), and the shaft part is fixed on the part positioning table (14) during assembly operation; the component posture adjusting mechanism (7) adjusts the posture of the shaft component around the X axis, the Y axis and the Z axis;
the tail end of the six-degree-of-freedom mechanical arm (8) is provided with a micro force sensor (16), a quick-change hand base (15) and a visual observation device (9), the upper end of the quick-change hand base (15) is fixedly connected with the micro force sensor (16), and the lower end of the quick-change hand base is respectively matched and sucked with the clamping hand I (5) and the clamping hand II (6), so that the clamping hand I (5) and the clamping hand II (6) are replaced; the micro force sensor (16) detects the contact force between the hole part and the shaft part in the assembly process in real time, the force sense information is fed back to the upper computer, and the upper computer sends a signal to the six-degree-of-freedom mechanical arm (8) to adjust the relative pose of the hole part and the shaft part, so that the assembly of the hole part and the shaft part is realized; the visual observation device (9) is used for guiding the tail end of the six-degree-of-freedom mechanical arm (8) to move, so that alignment of the quick-change hand base (15) and the clamping hand I (5) or the clamping hand II (6) during hand change is realized respectively, alignment of the clamping hand I (5) and the shaft part, alignment of the clamping hand II (6) and the hole part during feeding and primary alignment of the hole part and the shaft part during assembly;
the two-path microscopic vision observation device comprises an X-axis direction microscopic vision observation device I (11) and a Y-axis direction microscopic vision observation device II (13); the microscopic vision observation device I (11) is horizontally arranged on the vision adjustment mechanism I (10), and the position of the microscopic vision observation device I (11) is adjusted by the vision adjustment mechanism I (10) along the X-axis, Y-axis and Z-axis directions; the microscopic vision observation device II (13) is horizontally arranged on the vision adjustment mechanism II (12), and the position of the microscopic vision observation device II (13) is adjusted by the vision adjustment mechanism II (12) along the X-axis, Y-axis and Z-axis directions; the included angle of the light path of the microscopic vision observation device I (11) and the microscopic vision observation device II (13) is 90 degrees, and the microscopic vision observation device I (11) and the microscopic vision observation device II are used for observing the relative positions of the hole part and the shaft part in the directions of the X axis, the Y axis and the Z axis and the relative postures around the X axis, feeding the observed image information back to the upper computer, and sending a signal to the six-degree-of-freedom mechanical arm (8) by the upper computer to adjust the relative postures of the hole part and the shaft part so as to realize the secondary alignment of the hole part and the shaft part;
the microscopic vision observation device I (11) comprises an annular light source I (17) and a collimation light source I (19); the microscopic vision observation device II (13) comprises an annular light source II (20) and a collimation light source II (18) which are used for illumination in the detection process; the part tray (3) is provided with n groups of positioning pieces which are uniformly distributed along the circumference, each group of positioning pieces comprises 1 shaft part positioning column, 1 hole part positioning column and 1 shaft hole assembly positioning hole which are distributed along the radial direction, and n is more than or equal to 8; the shaft part positioning table (14) is used for simultaneously placing m shaft parts, wherein m is less than or equal to n.
2. The shaft hole part batch assembling device according to claim 1, wherein: the hole part and the shaft part are in transition fit, the clearance range of the clearance fit of the hole part and the shaft part is 10-20 mu m, and the interference range of the interference fit of the hole part and the shaft part is 2-4 mu m.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811336052.0A CN109108613B (en) | 2018-11-12 | 2018-11-12 | Shaft hole part batch assembly device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811336052.0A CN109108613B (en) | 2018-11-12 | 2018-11-12 | Shaft hole part batch assembly device |
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| Publication Number | Publication Date |
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| CN109108613A CN109108613A (en) | 2019-01-01 |
| CN109108613B true CN109108613B (en) | 2023-08-15 |
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